%CRLB for two station
clear;
clc;
load ekf;
J=inv(lbP);
% for count=1:num
%     J=inv(Q)-inv(Q)
    D11=-fai'/(gama*Q*gama')*fai;
    D12=-fai'/(gama*Q*gama');
    D22=inv(gama*Q*gama')+H'/R*H;
    J=D22-D12'/(J+D11)*D12;
% end
